1. PID Controllers: Theory, Design and Tuning;Åström,1995
2. Comparison of some well-known PID tuning formulas;Tan;Computers & Chemical Engineering,2006
3. Handbook of PI and PID Controller Tuning Rules;O’Dwyer,2003
4. Practical PID Control;Visioli,2006
5. Process Identification and PID Control;Sung,2009